NASCAR driver Tony Stewart was involved in an on-track incident during a Canandaigua Motorsports Park event August 9 in New York in which fellow sprint car racer Kevin Ward Jr. spun out, then appeared to confront Stewart on foot when he was subsequently struck and dragged several feet.

A sprint car driver was killed Saturday night when he was hit while on foot by NASCAR driver Tony Stewart during a Canandaigua Motorsports Park event in New York.

Amateur video of the incident shows racer Kevin Ward Jr. stepping out toward Stewart's car at the Lucas Oil SuperSprint feature race after it appears Stewart had cut off his driving line and forced him into the wall, causing him to spin out.

In a matter of moments, Stewart's car hits Ward and drags him several feet before Ward slides another 50 feet along the track. People in the audience can be heard screaming in horror at the incident.

A witness told the Associated Press that it appeared Ward was trying to confront Stewart, the three-time NASCAR Sprint Cup Champion. A video showed Ward standing to the right of Stewart's familiar No. 14 car, which seemed to kick out from the rear and hit him.

The incident happened around 10:30 p.m. at the exit for turn 2 during lap 14 of the 25-lap event, according to the Ontario County Sheriff's Office.

Ward, 20, was pronounced dead at F.F. Thompson Hospital at 11:15 p.m., according to the sheriff's office.

Stewart, 43, has been "fully cooperative" with the investigation, sheriff's officials said. The Associated Press reported that according to Sheriff Philip Povero, the investigation is not criminal.

Ward's website said he began racing go-karts in 1998 at age 4, but didn't start driving sprint cars until 2010. The Port Leyden, New York, resident was Empire Super Sprint rookie of the year in 2012, and this year was his fifth season racing the Empire Super Sprints.